相关论文: Learning visual policies for building 3D shape cat…

This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…

We study the problem of learning online packing skills for irregular 3D shapes, which is arguably the most challenging setting of bin packing problems. The goal is to consecutively move a sequence of 3D objects with arbitrary shapes into a…

Reinforcement learning agents that operate in diverse and complex environments can benefit from the structured decomposition of their behavior. Often, this is addressed in the context of hierarchical reinforcement learning, where the aim is…

It is common to implicitly assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is itself a major challenge. We address the problem of learning to look around:…

Recently, learning frameworks have shown the capability of inferring the accurate shape, pose, and texture of an object from a single RGB image. However, current methods are trained on image collections of a single category in order to…

Reinforcement learning practitioners often avoid hierarchical policies, especially in image-based observation spaces. Typically, the single-task performance improvement over flat-policy counterparts does not justify the additional…

Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…

Manipulation policies deployed in uncontrolled real-world scenarios are faced with great in-category geometric diversity of everyday objects. In order to function robustly under such variations, policies need to work in a category-level…

Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platforms. To facilitate the efficient learning of robot…

Humans are adept at learning new tasks by watching a few instructional videos. On the other hand, robots that learn new actions either require a lot of effort through trial and error, or use expert demonstrations that are challenging to…

Imitation learning of robot policies from few demonstrations is crucial in open-ended applications. We propose a new method, Interaction Warping, for learning SE(3) robotic manipulation policies from a single demonstration. We infer the 3D…

This paper presents ArticuBot, in which a single learned policy enables a robotics system to open diverse categories of unseen articulated objects in the real world. This task has long been challenging for robotics due to the large…

We study a generalized setup for learning from demonstration to build an agent that can manipulate novel objects in unseen scenarios by looking at only a single video of human demonstration from a third-person perspective. To accomplish…

There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…

The ability to form complex plans based on raw visual input is a litmus test for current capabilities of artificial intelligence, as it requires a seamless combination of visual processing and abstract algorithmic execution, two…

In this paper we present a novel method for a naive agent to detect novel objects it encounters in an interaction. We train a reinforcement learning policy on a stacking task given a known object type, and then observe the results of the…

A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…

Learning complex manipulation tasks in realistic, obstructed environments is a challenging problem due to hard exploration in the presence of obstacles and high-dimensional visual observations. Prior work tackles the exploration problem by…

Reinforcement Learning has been able to solve many complicated robotics tasks without any need for feature engineering in an end-to-end fashion. However, learning the optimal policy directly from the sensory inputs, i.e the observations,…

Large-scale visuomotor policy learning is a promising approach toward developing generalizable manipulation systems. Yet, policies that can be deployed on diverse embodiments, environments, and observational modalities remain elusive. In…